7d25d20861
It's pretty fast, use it for games where Navigation does not cut it.
(cherry picked from commit 827a9aa829)
92 lines
1.6 KiB
C++
92 lines
1.6 KiB
C++
#ifndef ASTAR_H
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#define ASTAR_H
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#include "reference.h"
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#include "self_list.h"
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class AStar: public Reference {
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OBJ_TYPE(AStar,Reference)
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uint64_t pass;
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struct Point {
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SelfList<Point> list;
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int id;
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Vector3 pos;
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float weight_scale;
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uint64_t last_pass;
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Vector<Point*> neighbours;
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//used for pathfinding
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Point *prev_point;
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float distance;
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Point() : list(this) {}
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};
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Map<int,Point*> points;
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struct Segment {
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union {
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struct {
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int32_t from;
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int32_t to;
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};
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uint64_t key;
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};
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Point *from_point;
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Point *to_point;
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bool operator<(const Segment& p_s) const { return key<p_s.key; }
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Segment() { key=0; }
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Segment(int p_from,int p_to) {
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if (p_from > p_to) {
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SWAP(p_from,p_to);
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}
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from=p_from;
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to=p_to;
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}
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};
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Set<Segment> segments;
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bool _solve(Point *begin_point, Point *end_point);
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protected:
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static void _bind_methods();
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public:
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int get_available_point_id() const;
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void add_point(int p_id,const Vector3& p_pos,float p_weight_scale=1);
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Vector3 get_point_pos(int p_id) const;
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float get_point_weight_scale(int p_id) const;
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void remove_point(int p_id);
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void connect_points(int p_id,int p_with_id);
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void disconnect_points(int p_id,int p_with_id);
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bool are_points_connected(int p_id,int p_with_id) const;
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void clear();
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int get_closest_point(const Vector3& p_point) const;
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Vector3 get_closest_pos_in_segment(const Vector3& p_point) const;
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DVector<Vector3> get_point_path(int p_from_id, int p_to_id);
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DVector<int> get_id_path(int p_from_id, int p_to_id);
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AStar();
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~AStar();
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};
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#endif // ASTAR_H
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